本帖最后由 1376115749 于 2016-6-18 10:52 编辑

_daisy 发表于 2016-5-19 10:16
谢谢你的建议，不过我不太明白为什么要设置一个编码器模式呢？不用倍频可以吗？我才开始学，所以寄存器的 ...

我这个是库函数版的，不过用的是原子哥的mini板，代码如下

[mw_shl_code=c,true]
#define U8_MAX     ((u8)255)
#define S8_MAX     ((s8)127)
#define S8_MIN     ((s8)-128)
#define U16_MAX    ((u16)65535u)
#define S16_MAX    ((s16)32767)
#define S16_MIN    ((s16)-32768)
#define U32_MAX    ((u32)4294967295uL)
#define S32_MAX    ((s32)2147483647)
#define S32_MIN    ((s32)2147483648uL)

#define ENCODER_TIMER   TIM4  // Encoder unit connected to TIM3
#define ENCODER_PPR           (u16)(448)   // number of pulses per revolution
#define SPEED_BUFFER_SIZE 8

#define COUNTER_RESET    ((u16)0)
#define ICx_FILTER      (u8) 6 // 6<-> 670nsec
#define SPEED_SAMPLING_TIME  9     // (9+1)*500usec = 5msec
#define SPEED_SAMPLING_FREQ (u16)(2000/(SPEED_SAMPLING_TIME+1))

/* Private variables ---------------------------------------------------------*/
typedef enum
{
    FALSE = 0, TRUE = !FALSE
} bool;
static s16 hPrevious_angle, hSpeed_Buffer[SPEED_BUFFER_SIZE]={0}, hRot_Speed;
static u8 bSpeed_Buffer_Index = 0;
static volatile u16 hEncoder_Timer_Overflow;
static bool bIs_First_Measurement = TRUE;

//正交编码器初始化
void Encoder_Init(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
    TIM_ICInitTypeDef TIM_ICInitStructure;
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4,ENABLE);

    //编码器接口
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;   
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    NVIC_InitTypeDef NVIC_InitStructure;
    NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    TIM_TimeBaseInitStructure.TIM_Period = (4*ENCODER_PPR)-1;  
    TIM_TimeBaseInitStructure.TIM_Prescaler = 0;
    TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(ENCODER_TIMER,&TIM_TimeBaseInitStructure);

    TIM_EncoderInterfaceConfig(ENCODER_TIMER, TIM_EncoderMode_TI12,
                               TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);

    //输入滤波器的设置
    TIM_ICStructInit(&TIM_ICInitStructure);
    TIM_ICInitStructure.TIM_ICFilter = ICx_FILTER;
    TIM_ICInit(ENCODER_TIMER, &TIM_ICInitStructure);

    TIM_ClearFlag(ENCODER_TIMER, TIM_FLAG_Update);
    TIM_ITConfig(ENCODER_TIMER, TIM_IT_Update, ENABLE);

    TIM_Cmd(ENCODER_TIMER, ENABLE);//开启计数器
}

/*******************************************************************************
* Function Name  : ENC_Calc_Rot_Speed
* Description    : Compute return latest speed measurement
* Input          : None
* Output         : s16
* Return         : Return the speed in 0.1 Hz resolution.                    
*******************************************************************************/
s16 ENC_Calc_Rot_Speed(void)
{   
    s8  i = 0;
    s32 wDelta_angle;
    u16 hEnc_Timer_Overflow_sample_one, hEnc_Timer_Overflow_sample_two;
    u16 hCurrent_angle_sample_one, hCurrent_angle_sample_two;
    signed long long temp;
    s16 haux;

    if (!bIs_First_Measurement)
    {
        // 1st reading of overflow counter   
        hEnc_Timer_Overflow_sample_one = hEncoder_Timer_Overflow;
        // 1st reading of encoder timer counter
        hCurrent_angle_sample_one = ENCODER_TIMER->CNT;
        // 2nd reading of overflow counter
        hEnc_Timer_Overflow_sample_two = hEncoder_Timer_Overflow;  
        // 2nd reading of encoder timer counter
        hCurrent_angle_sample_two = ENCODER_TIMER->CNT;      

        // Reset hEncoder_Timer_Overflow and read the counter value for the next
        // measurement
        hEncoder_Timer_Overflow = 0;
        haux = ENCODER_TIMER->CNT;   

        if (hEncoder_Timer_Overflow != 0)
        {
            haux = ENCODER_TIMER->CNT;
            hEncoder_Timer_Overflow = 0;            
        }

        if (hEnc_Timer_Overflow_sample_one != hEnc_Timer_Overflow_sample_two)
        { //Compare sample 1 & 2 and check if an overflow has been generated right
          //after the reading of encoder timer. If yes, copy sample 2 result in
          //sample 1 for next process
            hCurrent_angle_sample_one = hCurrent_angle_sample_two;
            hEnc_Timer_Overflow_sample_one = hEnc_Timer_Overflow_sample_two;
        }

        if ( (ENCODER_TIMER->CR1 & TIM_CounterMode_Down) == TIM_CounterMode_Down)
        {// encoder timer down-counting
            wDelta_angle = (s32)(hCurrent_angle_sample_one - hPrevious_angle -
                                 (hEnc_Timer_Overflow_sample_one) * (4*ENCODER_PPR));
        }
        else
        {//encoder timer up-counting
            wDelta_angle = (s32)(hCurrent_angle_sample_one - hPrevious_angle +
                                 (hEnc_Timer_Overflow_sample_one) * (4*ENCODER_PPR));
        }

        // speed computation as delta angle * 1/(speed sempling time)
        temp = (signed long long)(wDelta_angle * SPEED_SAMPLING_FREQ);
        temp *= 10;  // 0.1 Hz resolution
        temp /= (4*ENCODER_PPR);

    } //is first measurement, discard it
    else
    {
        bIs_First_Measurement = FALSE;
        temp = 0;
        hEncoder_Timer_Overflow = 0;
        haux = ENCODER_TIMER->CNT;      
        // Check if Encoder_Timer_Overflow is still zero. In case an overflow IT
        // occured it resets overflow counter and wPWM_Counter_Angular_Velocity
        if (hEncoder_Timer_Overflow != 0)
        {
            haux = ENCODER_TIMER->CNT;
            hEncoder_Timer_Overflow = 0;            
        }
    }

    hPrevious_angle = haux;  

    return((s16) temp);
}

/*******************************************************************************
* Function Name  : ENC_Calc_Average_Speed
* Description    : Compute smoothed motor speed based on last SPEED_BUFFER_SIZE
                   informations and store it variable  
* Input          : None
* Output         : s16
* Return         : Return rotor speed in 0.1 Hz resolution. This routine
                   will return the average mechanical speed of the motor.
*******************************************************************************/
void ENC_Calc_Average_Speed(void)//滑动平均滤波
{   
    s32 wtemp;
    u32 i;

    wtemp = ENC_Calc_Rot_Speed();

/* Compute the average of the read speeds */  
    hSpeed_Buffer[bSpeed_Buffer_Index] = (s16)wtemp;
    bSpeed_Buffer_Index++;

    if (bSpeed_Buffer_Index == SPEED_BUFFER_SIZE)
    {
        bSpeed_Buffer_Index = 0;
    }

    wtemp=0;

    for (i=0;i<SPEED_BUFFER_SIZE;i++)
    {
        wtemp += hSpeed_Buffer;
    }
    wtemp /= SPEED_BUFFER_SIZE;

    hRot_Speed = ((s16)(wtemp));
}

void TIM4_IRQHandler(void)
{
    OSIntEnter();
    if (TIM_GetITStatus(ENCODER_TIMER, TIM_IT_Update) == SET)
    {
        if (hEncoder_Timer_Overflow != U16_MAX)
            hEncoder_Timer_Overflow++;

        TIM_ClearITPendingBit(ENCODER_TIMER,TIM_IT_Update);
    }
    OSIntExit();
}

void Encode_test(void)
{
    Debug("ENCODER_TIMER->CNT 的值是：%d, 电机的速度为%d ",ENCODER_TIMER->CNT, hRot_Speed);
}

[/mw_shl_code]

这个代码也是参照网上的代码，自己调试通的，[size=13.3333px]ENC_Calc_Average_Speed这个函数需要在另一个定时器里面500us调用一次，其他数值也行，就是需要自己修改下面两个数值[size=13.3333px]#define[size=13.3333px] SPEED_SAMPLING_TIME  [size=13.3333px]9[size=13.3333px]     [size=13.3333px]// (9+1)*500usec = 5msec#define SPEED_SAMPLING_FREQ (u16)(2000/(SPEED_SAMPLING_TIME+1))
还有在调试编码器的时候，TI跟T2的相应引脚千万不要有上拉电阻，要不然，计数值的数值在临近的两个数值来回跳变，其他问题我这边没有遇到过，希望对你有帮助，不过现在这个时间你的毕业设计已经完了吧，希望对其他人有帮助吧。